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AP_NavEKF2: Correct GPS data for antenna body frame offset

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priseborough 2016-10-12 09:02:27 +11:00 committed by Andrew Tridgell
parent 064a106808
commit e884e9cc6e
1 changed files with 18 additions and 0 deletions
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18
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -192,10 +192,28 @@ void NavEKF2_core::SelectVelPosFusion()
// Don't fuse velocity data if GPS doesn't support it
if (frontend->_fusionModeGPS <= 1) {
fuseVelData = true;
} else {
fuseVelData = false;
}
fusePosData = true;
// correct GPS velocity data for position offset relative to the IMU
// TOTO use a filtered angular rate with a group delay that matches the GPS delay
Vector3f posOffsetBody = gpsDataDelayed.body_offset - accelPosOffset;
if (fuseVelData) {
Vector3f angRate = imuDataDelayed.delAng * (1.0f/imuDataDelayed.delAngDT);
Vector3f velOffsetBody = angRate % posOffsetBody;
Vector3f velOffsetEarth = prevTnb.mul_transpose(velOffsetBody);
gpsDataDelayed.vel -= velOffsetEarth;
}
// correct GPS position data for position offset relative to the IMU
Vector3f posOffsetEarth = prevTnb.mul_transpose(posOffsetBody);
gpsDataDelayed.pos.x -= posOffsetEarth.x;
gpsDataDelayed.pos.y -= posOffsetEarth.y;
gpsDataDelayed.hgt += posOffsetEarth.z;
} else {
fuseVelData = false;
fusePosData = false;